Fully Distributed Event-Triggered Anti-Windup Consensus of Heterogeneous Systems With Input Saturation and an Active Leader

This article addresses the event-based fully distributed consensus problem for linear heterogeneous multiagent systems (MASs) subject to input saturation. A leader with unknown but bounded control input is also considered. Based on an adaptive dynamic event-triggered protocol, all the agents can reach output consensus without knowing any global knowledge. Moreover, by applying a multiple-level saturation technique, the input-constrained leader-following consensus control is achieved. The given event-triggered algorithm can be utilized for the directed graph containing a spanning tree with the leader as the root. One distinct feature compared with previous works is that the proposed protocol can achieve saturated control without any a priori condition, instead, the local information is needed. Finally, the numerical simulations are illustrated to verify the performance of the proposed protocol.